154 lines
4.8 KiB
Python
154 lines
4.8 KiB
Python
import os
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import cv2
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import numpy as np
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from ultralytics import YOLO
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# ================== 配置参数 ==================
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MODEL_PATH = r"/home/hx/yolo/ultralytics_yolo11-main/runs/train/exp_obb4/weights/best.pt"
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IMAGE_SOURCE_DIR = r"/media/hx/04e879fa-d697-4b02-ac7e-a4148876ebb0/dataset/obb2/test"
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LABEL_SOURCE_DIR = IMAGE_SOURCE_DIR # 假设标签和图像在同一目录
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OUTPUT_DIR = "./inference_results"
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IMG_EXTENSIONS = {'.jpg', '.jpeg', '.png', '.bmp', '.tif', '.tiff', '.webp'}
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os.makedirs(OUTPUT_DIR, exist_ok=True)
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# 加载模型
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print("🔄 加载 YOLO OBB 模型...")
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model = YOLO(MODEL_PATH)
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print("✅ 模型加载完成")
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# 获取图像列表
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image_files = [
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f for f in os.listdir(IMAGE_SOURCE_DIR)
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if os.path.splitext(f.lower())[1] in IMG_EXTENSIONS
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]
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if not image_files:
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print(f"❌ 错误：未找到图像文件")
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exit(1)
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print(f"📁 发现 {len(image_files)} 张图像待处理")
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all_angle_errors = [] # 存储每张图的夹角误差（度）
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# ================== 工具函数 ==================
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def parse_obb_label_file(label_path):
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"""解析 OBB 标签文件，返回 [{'cls': int, 'points': (4,2)}]"""
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boxes = []
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if not os.path.exists(label_path):
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return boxes
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with open(label_path, 'r') as f:
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for line in f:
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parts = line.strip().split()
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if len(parts) != 9:
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continue
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cls_id = int(parts[0])
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coords = list(map(float, parts[1:]))
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points = np.array(coords).reshape(4, 2)
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boxes.append({'cls': cls_id, 'points': points})
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return boxes
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def compute_main_direction(points):
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"""
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根据四个顶点计算旋转框的主方向（长边方向），
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返回 [0, π) 范围内的弧度值。
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"""
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edges = []
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for i in range(4):
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p1 = points[i]
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p2 = points[(i + 1) % 4]
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vec = p2 - p1
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length = np.linalg.norm(vec)
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if length > 1e-6:
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edges.append((length, vec))
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if not edges:
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return 0.0
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# 找最长边
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longest_edge = max(edges, key=lambda x: x[0])[1]
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angle_rad = np.arctan2(longest_edge[1], longest_edge[0])
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# 归一化到 [0, π)
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angle_rad = angle_rad % np.pi
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return angle_rad
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def compute_min_angle_between_two_dirs(dir1_rad, dir2_rad):
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"""计算两个方向之间的最小夹角（0 ~ 90°），返回角度制"""
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diff = abs(dir1_rad - dir2_rad)
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min_diff_rad = min(diff, np.pi - diff)
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return np.degrees(min_diff_rad) # 返回 0~90°
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# ================== 主循环 ==================
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for img_filename in image_files:
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img_path = os.path.join(IMAGE_SOURCE_DIR, img_filename)
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label_path = os.path.join(LABEL_SOURCE_DIR, os.path.splitext(img_filename)[0] + ".txt")
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print(f"\n🖼️ 处理: {img_filename}")
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# 读图
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img = cv2.imread(img_path)
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if img is None:
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print("❌ 无法读取图像")
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continue
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# 推理
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results = model(img, imgsz=640, conf=0.15, verbose=False)
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result = results[0]
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pred_boxes = result.obb
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# === 提取预测框主方向 ===
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pred_dirs = []
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if pred_boxes is not None and len(pred_boxes) >= 2:
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for box in pred_boxes[:2]: # 只取前两个
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xywhr = box.xywhr.cpu().numpy()[0]
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cx, cy, w, h, r_rad = xywhr
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main_dir = r_rad if w >= h else r_rad + np.pi / 2
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pred_dirs.append(main_dir % np.pi)
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pred_angle = compute_min_angle_between_two_dirs(pred_dirs[0], pred_dirs[1])
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else:
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print("❌ 预测框不足两个")
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continue
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# === 提取真实框主方向 ===
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true_boxes = parse_obb_label_file(label_path)
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if len(true_boxes) < 2:
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print("❌ 标签框不足两个")
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continue
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true_dirs = []
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for tb in true_boxes[:2]: # 取前两个
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d = compute_main_direction(tb['points'])
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true_dirs.append(d)
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true_angle = compute_min_angle_between_two_dirs(true_dirs[0], true_dirs[1])
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# === 计算夹角误差 ===
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error_deg = abs(pred_angle - true_angle)
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all_angle_errors.append(error_deg)
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print(f" 🔹 预测夹角: {pred_angle:.2f}°")
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print(f" 🔹 真实夹角: {true_angle:.2f}°")
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print(f" 🔺 夹角误差: {error_deg:.2f}°")
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# ================== 输出统计 ==================
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print("\n" + "=" * 60)
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print("📊 夹角误差统计（基于两框间最小夹角）")
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print("=" * 60)
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if all_angle_errors:
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mean_error = np.mean(all_angle_errors)
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std_error = np.std(all_angle_errors)
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max_error = np.max(all_angle_errors)
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min_error = np.min(all_angle_errors)
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print(f"有效图像数: {len(all_angle_errors)}")
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print(f"平均夹角误差: {mean_error:.2f}°")
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print(f"标准差: {std_error:.2f}°")
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print(f"最大误差: {max_error:.2f}°")
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print(f"最小误差: {min_error:.2f}°")
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else:
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print("❌ 无有效数据用于统计")
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print("=" * 60)
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print("🎉 所有图像处理完成！") |